EP3012814B1 - Système d'assistance au dépassement - Google Patents

Système d'assistance au dépassement Download PDF

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Publication number
EP3012814B1
EP3012814B1 EP13887035.7A EP13887035A EP3012814B1 EP 3012814 B1 EP3012814 B1 EP 3012814B1 EP 13887035 A EP13887035 A EP 13887035A EP 3012814 B1 EP3012814 B1 EP 3012814B1
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EP
European Patent Office
Prior art keywords
vehicle
speed
host vehicle
overtake
host
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Application number
EP13887035.7A
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German (de)
English (en)
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EP3012814A4 (fr
EP3012814A1 (fr
Inventor
Tomoki Kubo
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Volvo Truck Corp
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Volvo Truck Corp
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Publication of EP3012814A4 publication Critical patent/EP3012814A4/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed

Definitions

  • the present invention relates to an overtaking assistant system for assisting a host vehicle to overtake a preceding vehicle.
  • a driving gap control device that detects a preceding vehicle traveling before a host vehicle and controls a vehicle speed to maintain a predetermined safe driving gap.
  • JP 2009-193228 A there is discussed a driving gap control device that notifies a driver of a lane change timing when a driving gap between a host vehicle and a preceding vehicle is within a predetermined gap necessary to perform a lane change of the host vehicle, and any other vehicle is not detected behind the host vehicle.
  • a lane change assistant for motor vehicles which comprises a monitoring device for monitoring the traffic in the space ahead and behind the own vehicle and a decision device for deciding whether a safe lane change is possible.
  • the lane change assistant is characterized by a recommendation device that is adapted to calculate the temporal development of vehicle distances in advance and to output a recommendation for a lane change when a safe lane change is possible and when the distance to a vehicle ahead on the own lane is smaller than a predetermined minimum distance within a predetermined period.
  • deceleration may be necessary in some times, for example, when there is another preceding vehicle traveling along a destination lane to be changed to overtake the preceding vehicle. For this reason, it is necessary to perform acceleration or deceleration, and this may increase fuel consumption.
  • an object of the present invention to provide an overtaking assistant system capable of allowing a driver to perform fuel saving driving by reducing acceleration or deceleration.
  • an overtaking assistant system for notifying a driver whether or not a host vehicle is allowed to overtake a first vehicle traveling along a slow lane before the host vehicle when the host vehicle travels along the slow lane
  • the overtaking assistant system includes a speed detector configured to detect a speed of the host vehicle; a preceding vehicle detector configured to detect relative distances and relative speeds of the first vehicle and a second vehicle, the second vehicle traveling along a passing line before the host vehicle with respect to the host vehicle; a speed comparison unit configured to compare speeds of the first and second vehicles; an overtaking decision making unit configured to determine that the host vehicle is allowed to overtake the first vehicle if the speed of the host vehicle is higher than the speed of the first vehicle and the speed of the second vehicle is higher than the speed of the first vehicle; and a notification unit configured to notify a driver of the host vehicle that the host vehicle is allowed to overtake the first vehicle when the overtaking decision making unit determines that the host vehicle is allowed to overtake the first vehicle.
  • the overtaking assistant system 100 is mounted on a vehicle 1 as a host vehicle.
  • the overtaking assistant system 100 aims to notify a driver of the vehicle 1 whether or not the vehicle 1 is allowed to overtake other preceding vehicles traveling along a slow lane when the vehicle 1 travels along the slow lane.
  • the overtaking assistant system 100 determines whether or not the vehicle 1 is allowed to overtake other preceding vehicles traveling along the slow lane by assuming that the vehicle 1 and other vehicles traveling around the vehicle 1 continuously run as they are.
  • the overtaking assistant system 100 is also incorporated with a fuel saving driving system (not shown) for implementing fuel saving driving by suppressing fuel consumption during a travel of the vehicle 1.
  • This fuel saving driving system is connected to an engine electronic control unit (ECU) that performs the engine control, to control the fuel amount supplied to the engine.
  • ECU engine electronic control unit
  • the fuel saving driving system suppresses the fuel consumption by performing inertia traveling by limiting the fuel amount supplied to the engine on the basis of road slope information stored in a database.
  • the overtaking assistant system 100 includes a vehicle speed sensor 2 as a speed detector for detecting a speed of the vehicle 1, a preceding vehicle detector 3 capable of detecting other vehicles traveling before the vehicle 1, a following vehicle detector 4 capable of detecting other vehicles traveling behind the vehicle 1, a lateral sensor 5 as a side vehicle detector capable of detecting other vehicles traveling in a lateral side of the vehicle 1, a controller 10 that performs a control, and a notification unit 20 that notifies a driver of the vehicle 1 whether or not the vehicle 1 is allowed to overtake other vehicles.
  • a vehicle speed sensor 2 as a speed detector for detecting a speed of the vehicle 1
  • a preceding vehicle detector 3 capable of detecting other vehicles traveling before the vehicle 1
  • a following vehicle detector 4 capable of detecting other vehicles traveling behind the vehicle
  • a lateral sensor 5 as a side vehicle detector capable of detecting other vehicles traveling in a lateral side of the vehicle 1
  • a controller 10 that performs a control
  • a notification unit 20 that notifies a driver of the vehicle 1
  • the vehicle speed sensor 2 is a sensor mounted to a vehicle to detect a rotation of an output shaft of a transmission.
  • the vehicle speed may be detected by using the ECU that controls the vehicle without separately providing the vehicle speed sensor 2.
  • the preceding vehicle detector 3 has a forward-looking camera 3a that captures a forward image of the vehicle 1 and a forward-looking radar 3b that detects relative distances and relative speeds of other vehicles traveling before the vehicle 1.
  • the forward-looking camera 3a recognizes a type of the traffic lane where the vehicle 1 travels, types of other preceding vehicles, and the like from the captured image.
  • the type of the traffic lane includes a slow lane or a passing lane
  • the type of the preceding vehicle includes a light car, a standard-sized car, a medium-sized car, a large-sized car, a trailer, and the like.
  • the forward-looking radar 3b is, for example, a millimetric wave radar.
  • the forward-looking radar 3b emits a radio wave having a wavelength range of 1 to 10 millimeters and measures the time elapsing until its reflection wave is received in order to detect relative distances and relative speeds between the vehicle 1 and other vehicles traveling before the vehicle 1.
  • the following vehicle detector 4 has a backward-looking camera 4a that captures a backward image of the vehicle 1 and a backward-looking radar 4b that detects relative distances and relative speeds between the vehicle 1 and other vehicles traveling behind the travel 1.
  • the backward-looking camera 4a recognizes a type of the traffic line where the vehicle 1 travels and a type of the following vehicle from the captured image.
  • the backward-looking radar 4b is, for example, a millimetric wave radar.
  • the backward-looking radar 4b emits a radio wave having a wavelength range of 1 to 10 millimeters and measures the time elapsing until its reflection wave is received in order to detect relative distances and relative speeds between the vehicle 1 and other vehicles traveling behind the vehicle 1.
  • the controller 10 is a microcomputer having a central processing unit (CPU), a read-only memory (ROM), a random access memory (RAM), and an input/output (I/O) interface.
  • the RAM stores data necessary in the processing of the CPU.
  • the ROM stores a CPU control program and the like in advance.
  • the I/O interface is used in an input/output operation of information with connected devices.
  • the control of the overtaking assistant system 100 is implemented by operating the CPU, the RAM, and the like on the basis of the program stored in the ROM.
  • the controller 10 is connected to the vehicle speed sensor 2, the preceding vehicle detector 3, the following vehicle detector 4, and the lateral sensor 5 by way of the I/O interface to receive signals from each of the sensors 2 to 5.
  • the controller 10 has a speed comparison unit 11 that compares the speed of the vehicle 1 with the speeds of other vehicles or compares the speeds of other vehicles, and an overtaking decision making unit 15 that determines whether or not the vehicle 1 is allowed to overtake other vehicles on the basis of the relative distances and the relative speeds between the vehicle 1 and other vehicles.
  • the speed comparison unit 11 and the overtaking decision making unit 15 will be described below in detail with reference to FIG. 3 .
  • the notification unit 20 audibly or visually notifies a driver of the vehicle 1 whether or not the vehicle 1 is allowed to overtake other vehicles.
  • the notification unit 20 may notify this fact to a driver of the vehicle 1.
  • the notification unit 20 is provided in a cabin of the vehicle 1.
  • the notification unit 20 includes a liquid crystal display panel provided in a place recognizable by a driver, a loudspeaker that makes a sound in the cabin, or the like. Both the liquid crystal display panel and the loudspeaker may also be provided together as the notification unit 20.
  • the overtaking assistant system 100 is operated when the vehicle 1 travels along a slow lane, and the vehicles 51 to 55 travel in the same direction around the vehicle 1.
  • a speed of the vehicle 1 is denoted by “V [m/s]”
  • the vehicle 51 as a first vehicle travels along the slow lane before the vehicle 1.
  • This vehicle 51 is an overtaking target of the vehicle 1.
  • the vehicle 1 can detect the vehicle 51 by using the preceding vehicle detector 3.
  • the speed of the vehicle 51 is denoted by "V A [m/s]”
  • the entire length of the vehicle 51 is denoted by "L VA [m]”
  • a driving gap between the vehicles 1 and 51 is denoted by "L A [m].”
  • D IN [m] a safety distance from the vehicle 51 necessary to obtain when the vehicle 1 returns from the passing lane to the slow lane after overtaking the vehicle 51.
  • the entire length L VA of the vehicle 51 is a value preset depending on a type of the vehicle. For example, when the vehicle 51 is a standard-sized car, the entire length L VA is set to approximately 6 [m]. When the vehicle 51 is a large-sized truck, the entire length L VA is set to approximately 12 [m].
  • the vehicle 52 as a second vehicle travels along the passing lane before the vehicle 1.
  • the vehicle 1 can detect the vehicle 52 by using the preceding vehicle detector 3.
  • the speed of the vehicle 52 is denoted by "V B [m/s]”
  • the driving gap between the vehicles 1 and 52 is denoted by "L B [m].”
  • the vehicle 53 as a third vehicle travels along the passing lane behind the vehicle 1.
  • the vehicle 1 can detect the vehicle 53 by using the following vehicle detector 4.
  • the speed of the vehicle 53 is denoted by “V C [m/s]”
  • the driving gap between the vehicles 1 and 53 is denoted by “L C [m].”
  • the vehicle 54 as a fourth vehicle travels along the slow lane behind the vehicle 1.
  • the vehicle 1 can detect the vehicle 54 by using the following vehicle detector 4.
  • the speed of the vehicle 54 is denoted by “V D [m/s]”
  • the driving gap between the vehicles 1 and 54 is denoted by “L D [m].”
  • the vehicle 55 as a fifth vehicle travels along the passing lane in the right side of the vehicle 1.
  • the vehicle 1 can detect the vehicle 55 by using the lateral sensor 5.
  • the vehicle 1 is driven on the left-hand side of the road. If the vehicle 1 is driven on the right-hand side of the road, it is assumed that the vehicle 55 travels along the passing lane in the left side of the vehicle 1.
  • the routine of FIG. 3 is executed by the controller 10 repeatedly and periodically, for example, in every 10 milliseconds.
  • step 101 it is determined whether or not the preceding vehicle detector 3 detects the vehicle 51. If it is determined that the preceding vehicle detector 3 detects the vehicle 51 in the step 101, an overtaking target 51 exists, so that the process advances to the step 102. Otherwise, if it is determined that the preceding vehicle detector 3 does not detect the vehicle 51 in the step 101, there is no overtaking target 51, so that the process advances to the step 119.
  • the speed comparison unit 11 compares the speed V of the vehicle 1 and the speed V A of the vehicle 51 to determine whether or not the speed V of the vehicle 1 is higher than the speed V A of the vehicle 51. If it is determined the speed V of the vehicle 1 is higher than the speed V A of the vehicle 51 in the step 102, the process advances to the step 103. This is the case where, assuming that the vehicles 1 and 51 continuously run as they are, the vehicle 1 approaches the vehicle 51 as indicated by the dotted line in FIG. 4 .
  • the step 103 it is determined whether or not the lateral sensor 5 detects the vehicle 55. If it is determined that the vehicle 55 is detected in the step 103, the vehicle 1 is not allowed to perform a lane change, and the process advances to the step 106. Otherwise, if it is determined that the vehicle 55 is not detected in the step 103, the process advances to the step 104. Therefore, the overtaking decision making unit 15 may determine that the vehicle 1 is allowed to overtake the vehicle 51 if the vehicle 55 is not detected.
  • step 104 it is determined whether or not the following vehicle detector 4 detects the vehicle 53. If it is determined that the vehicle 53 is detected in the step 104, the process advances to the step 105. Otherwise, if it is determined that the vehicle 53 is not detected in the step 104, the process advances to the step 107.
  • the step 105 it is determined whether or not a positional relationship between the vehicles 1, 51, and 53 satisfies a first condition.
  • the first condition is defined as "T A > t A ,” where "T A [s]” denotes a time period necessary for the vehicle 1 to overtake the vehicle 51, and “t A [s]” denotes a time period elapsing until the vehicle 53 catches up with the vehicle 1. That is, the first condition is defined such that the vehicle 53 catches up with the vehicle 1 while the vehicle 1 overtakes the vehicle 51 as illustrated in FIG. 5 by assuming that the vehicles 1, 51, and 53 continuously run as they are.
  • the overtaking decision making unit 15 may determine that the vehicle 1 is allowed to overtake the vehicle 51 if the vehicle 53 does not catch up with the vehicle 1 while the vehicle 1 overtakes the vehicle 51 by assuming that the vehicles 1, 51, and 53 continuously run as they are.
  • the overtaking decision making unit 15 determines that the vehicle 1 is not allowed to overtake the vehicle 51. In this case, in steps 101 and 102, it is determined that the vehicle 51 exists, and the speed V of the vehicle 1 is higher than the speed V A of the vehicle 51. Therefore, it is necessary to reduce the speed of the vehicle 1.
  • the notification unit 20 notifies a driver of the vehicle 1 that the vehicle 1 is not allowed to overtake the vehicle 51, and it is necessary to reduce the speed because the vehicle 1 may catch up with the vehicle 51 if there is no speed change.
  • the driver of the vehicle 1 notified of this fact may continuously drive the vehicle 1 along the slow lane while being careful about the driving gap from the vehicle 51.
  • step 107 it is determined whether or not the preceding vehicle detector 3 detects the vehicle 52. If it is determined that the vehicle 52 is detected in the step 107, the process advances to the step 108. Otherwise, if it is determined that vehicle 52 is not detected in the step 107, the process advances to the step 115.
  • the speed comparison unit 11 compares the speed V of the vehicle 1 and the speed V B of the vehicle 52 to determine whether or not the speed V of the vehicle 1 is higher than the speed V B of the vehicle 52. If it is determined that the speed V of the vehicle 1 is higher than the speed V B of the vehicle 52 in the step 108, the process advances to the step 109. Otherwise, if it is determined in the step 108 that the speed V of the vehicle 1 is not higher than the speed V B of the vehicle 52, that is, if it is determined that the speed V of the vehicle 1 is equal to or lower than the speed V B of the vehicle 52, the process advances to the step 115.
  • the step 109 it is determined whether or not a positional relationship between the vehicles 1, 51, and 52 satisfies a second condition.
  • the second condition is defined as "T A > t B ,” where "T A [s]” denotes a time period necessary for the vehicle 1 to overtake the vehicle 51, and “t B [s]” denotes a time period elapsing until the vehicle 1 catches up with the vehicle 52. That is, the second condition is defined such that the vehicle 1 catches up with the vehicle 52 while the vehicle 1 overtakes the vehicle 51 as illustrated in FIG. 6 by assuming that the vehicles 1, 51, and 52 continuously run as they are.
  • the process advances to the step 110. Otherwise, if it is determined that the second condition is not satisfied in the step 109, the vehicle 1 will not catch up with the vehicle 52 while the vehicle 1 overtakes the vehicle 51. Therefore, the process advances to the step 115.
  • the step 110 it is determined whether or not the positional relationship between the vehicles 1, 51, and 52 satisfies a third condition.
  • the third condition is defined as "V B -V A ⁇ V ⁇ ,” where "V ⁇ " denotes a speed difference between the vehicles 51 and 52 at which it can be determined that the vehicle 1 is allowed to overtake the vehicle 51. That is, similar to the second condition, the third condition is defined such that the vehicle 1 catches up with the vehicle 52 while the vehicle 1 overtakes the vehicle 51 as illustrated in FIG. 7 by assuming that the vehicles 1, 51, and 52 continuously run as they are.
  • the process advances to the step 106, where it is determined that the overtaking is not allowed. Otherwise, if it is determined that the third condition is not satisfied in the step 110, the vehicle 1 will not catch up with the vehicle 52 while the vehicle 1 overtakes the vehicle 51. Therefore, the process advances to the step 111.
  • the process advances to the step 111, and then, it is determined that the vehicle 1 is allowed to overtake the vehicle 51. Therefore, if the speed of the vehicle 1 is higher than the speed of the vehicle 51, and the speed of the vehicle 52 is higher than the speed of the vehicle 51, the overtaking decision making unit 15 may determine that the vehicle 1 is allowed to overtake the vehicle 51.
  • the driver of the vehicle 1 notified by the notification unit 20 may select one of the slow lane and the passing lane by considering which one will cause less deceleration. Therefore, the driver can make fuel saving driving by reducing acceleration or deceleration.
  • step 111 it is determined whether or not the following vehicle detector 4 detects the vehicle 54. If it is determined in the step 111 that the vehicle 54 is detected, the vehicle 54 follows the vehicle 1 as illustrated in FIG. 8 , and the process advances to the step 112. Otherwise, if it is determined that the vehicle 54 is not detected in the step 111, the vehicle 54 does not follow the vehicle 1, and the process advances to the step 114.
  • the speed comparison unit 11 compares the speed V of the vehicle 1 and the speed V D of the vehicle 54 to determine whether or not the speed V of the vehicle 1 is lower than the speed V D of the vehicle 54. If it is determined in the step 112 that the speed V of the vehicle 1 is lower than the speed V D of the vehicle 54, the process advances to the step 113. Otherwise, if it is determined in the step 112 that the speed V of the vehicle 1 is not lower than the speed V D of the vehicle 54, that is, if it is determined that the speed V of the vehicle 1 is equal to or higher than the speed V D of the vehicle 54, the process advances to the step 114. Therefore, if the speed of the vehicle 1 is higher than the speed of the vehicle 54, the overtaking decision making unit 15 may determine that the vehicle 1 is allowed to overtake the vehicle 51.
  • step 115 it is determined whether or not the following vehicle detector 4 detects the vehicle 54. If it is determined in the step 115 that the vehicle 54 is detected, the vehicle 54 follows the vehicle 1 as illustrated in FIG. 8 , and the process advances to the step 116. Otherwise, if it is determined in the step 115 that the vehicle 54 is not detected, the vehicle 54 does not follow the vehicle 1, and the process advances to the step 118.
  • the speed comparison unit 11 compares the speed V of the vehicle 1 and the speed V D of the vehicle 54 to determine whether or not the speed V of the vehicle 1 is lower than the speed V D of the vehicle 54. If it is determined in the step 116 that the speed V of the vehicle 1 is lower than the speed V D of the vehicle 54, the process advances to the step 117. Otherwise, if it is determined in the step 116 that the speed V of the vehicle 1 is not lower than the speed V D of the vehicle 54, that is, if it is determined that the speed V of the vehicle 1 is equal to or higher than the speed V D of the vehicle 54, the process advances to the step 118. Therefore, the overtaking decision making unit 15 may determine that the vehicle 1 is allowed to overtake the vehicle 51 if the speed of the vehicle 1 is higher than the speed of the vehicle 54.
  • the overtaking decision making unit 15 determines that it is necessary to be careful about any following or preceding vehicle although the vehicle 1 is allowed to overtake the vehicle 51 in consideration of the relationship with the vehicle 53. In this case, at least the vehicles 51, 52, and 54 run around the vehicle 1. Therefore, although the vehicle 1 is allowed to overtake the vehicle 51, the driver is necessary to be careful about other vehicles 51, 52, and 54.
  • the notification unit 20 notifies the driver of the vehicle 1 that it is necessary to be careful about the vehicles 52 and 54 although the vehicle 1 is allowed to overtake the vehicle 51.
  • the driver of the vehicle 1 notified of this fact may try to overtake the vehicle 51 by performing a lane change from the slow lane to the passing lane while being careful about the vehicles 52 and 54.
  • the overtaking decision making unit 15 determines that it is necessary to be careful about the vehicle 52 although the vehicle 1 is allowed to overtake the vehicle 51 in consideration of the relationship with the vehicle 53. In this case, at least the vehicles 51 and 52 run around the vehicle 1. Therefore, it is necessary to be careful about the vehicle 52 although the vehicle 1 is allowed to overtake the vehicle 51.
  • the notification unit 20 notifies the driver of the vehicle 1 that it is necessary to be careful about the vehicle 52 although the vehicle 1 is allowed to overtake the vehicle 51.
  • the driver of the vehicle 1 notified of this fact may try to overtake the vehicle 51 by performing a lane change from the slow lane to the passing lane while being careful about the vehicle 52.
  • the overtaking decision making unit 15 determines that it is necessary to be careful about any following vehicle although the vehicle 1 is allowed to overtake the vehicle 51 in consideration of the relationship with the vehicle 53. In this case, at least the vehicles 51 and 54 run around the vehicle 1. Therefore, it is necessary to be careful about the vehicle 54 although the vehicle 1 is allowed to overtake the vehicle 51.
  • the notification unit 20 notifies the driver of the vehicle 1 that it is necessary to be careful about the vehicle 54 although the vehicle 1 is allowed to overtake the vehicle 51.
  • the driver of the vehicle 1 notified of this fact may try to overtake the vehicle 51 by performing a lane change from the slow lane to the passing lane while being careful about the vehicle 54.
  • the overtaking decision making unit 15 determines that the vehicle 1 is allowed to overtake the vehicle 51. In this case, at least the vehicle 51 runs around the vehicle 1. In addition, even when the vehicles 52, 53, and 54 run around the vehicle 1, it does not matter in a try for the vehicle 1 to overtake the vehicle 51.
  • the notification unit 20 notifies the driver of the vehicle 1 that the vehicle 1 is allowed to overtake the vehicle 51.
  • the driver of the vehicle 1 notified of this fact may try to overtake the vehicle 51 by performing a lane change from the slow lane to the passing lane.
  • the overtaking decision making unit 15 determines that the vehicle 51 does not precede the vehicle 1, or it is not necessary to overtake the vehicle 51 because the speed V of the vehicle 1 is lower than the speed V A of the vehicle 51.
  • the notification unit 20 notifies the driver of the vehicle 1 that it is not necessary to overtake the preceding vehicle.
  • the driver of the vehicle 1 notified of this fact may continuously run along the slow lane.
  • the preceding vehicle detector 3 detects relative distances and relative speeds of the vehicle 1 with respect to the vehicle 51 traveling along the slow lane before the vehicle 1 and the vehicle 52 traveling along the passing lane, when the vehicle 1 travels along the slow lane. If the speed of the vehicle 1 is higher than the speed of the vehicle 51, and the speed of the vehicle 52 is higher than the speed of the vehicle 51, the overtaking decision making unit 15 determines that the vehicle 1 is allowed to overtake the vehicle 51, and the notification unit 20 notifies the driver of this fact. Therefore, the driver notified of this fact by the notification unit 20 may drive the vehicle 1 by selecting one of the slow lane and the passing lane by considering necessity of deceleration or which lane causes less deceleration. Therefore, the driver can perform fuel saving driving by reducing acceleration or deceleration.

Claims (4)

  1. Système d'assistance au dépassement (100) pour notifier un conducteur du fait qu'un véhicule hôte est autorisé ou non à dépasser un premier véhicule (51) qui circule dans une voie lente devant le véhicule hôte quand le véhicule hôte circule dans la voie lente, le système d'assistance au dépassement (100) comprenant :
    un détecteur de vitesse (2) configuré pour détecter la vitesse du véhicule hôte ;
    un détecteur de véhicule précédent (3) configuré pour détecter les distances relatives et les vitesses relatives du premier véhicule (51) et d'un deuxième véhicule (52), le deuxième véhicule (52) circulant dans une voie de dépassement devant le véhicule hôte par rapport au véhicule hôte ;
    une unité de comparaison de vitesse (11) configurée pour comparer les vitesses des premier et deuxième véhicules (51, 52) ;
    une unité de prise de décision de dépassement (15) configurée pour déterminer si le véhicule hôte est autorisé ou non à dépasser le premier véhicule (51) ; et
    une unité de notification (20) configurée pour notifier le conducteur du véhicule hôte du fait que le véhicule hôte est autorisé à dépasser le premier véhicule (51) quand l'unité de prise de décision de dépassement (15) détermine que le véhicule hôte est autorisé à dépasser le premier véhicule (51),
    caractérisé en ce que
    le détecteur de véhicule précédent (3) comporte une caméra dirigée vers l'avant (3a) configurée pour capturer une image vers l'avant et pour reconnaître le type du premier véhicule (51) à partir de l'image capturée,
    dans lequel l'unité de prise de décision de dépassement (15) est configurée pour déterminer que le véhicule hôte est autorisé à dépasser le premier véhicule (51) si la vitesse du véhicule hôte est supérieure à la vitesse du premier véhicule (51) et si la vitesse du deuxième véhicule (52) est supérieure à la vitesse du premier véhicule (51), et sur base de la longueur totale du premier véhicule (51), la distance relative entre le véhicule hôte et le premier véhicule (51), et une distance de sécurité jusqu'au premier véhicule (51) qu'il est nécessaire d'obtenir quand le véhicule hôte (51) revient de la voie de dépassement à une voie lente après avoir dépassé le premier véhicule (51), dans lequel la longueur totale du premier véhicule (51) est une valeur préétablie qui dépend du type du premier véhicule.
  2. Système d'assistance au dépassement (100) selon la revendication 1, comprenant en outre un détecteur de véhicule suivant (4) configuré pour détecter la distance relative et la vitesse relative d'un troisième véhicule (53), le troisième véhicule (53) circulant dans la voie de dépassement derrière le véhicule hôte par rapport au véhicule hôte,
    dans lequel l'unité de prise de décision de dépassement (15) est configurée pour déterminer que le véhicule hôte est autorisé à dépasser le premier véhicule (51) si le troisième véhicule (53) ne rattrape pas le véhicule hôte alors que le véhicule hôte dépasse le premier véhicule (51) tout en considérant que le véhicule hôte et les premier et troisième véhicules (51, 53) circulent continuellement tels qu'ils se trouvent.
  3. Système d'assistance au dépassement (100) selon la revendication 2, dans lequel le détecteur de véhicule suivant (4) est configuré pour détecter les distances relatives et les vitesses relatives du troisième véhicule (53) et d'un quatrième véhicule (54), le quatrième véhicule (54) circulant dans la voie lente derrière le véhicule hôte par rapport au véhicule hôte, et
    l'unité de prise de décision de dépassement (15) est configurée pour déterminer que
    (i) le véhicule hôte est autorisé à dépasser le premier véhicule (51) si la vitesse du véhicule hôte est supérieure à la vitesse du quatrième véhicule (54), et
    (ii) le véhicule hôte est autorisé à dépasser le premier véhicule (51), dans lequel l'unité de notification notifie le conducteur du véhicule du fait qu'il est nécessaire d'être prudent concernant le premier véhicule (51), le deuxième véhicule (52) et le quatrième véhicule (54), si la vitesse du véhicule hôte est inférieure ou égale à la vitesse du quatrième véhicule (54).
  4. Système d'assistance au dépassement (100) selon la revendication 3, comprenant en outre un détecteur de véhicule latéral configuré pour détecter un cinquième véhicule (55), le cinquième véhicule (55) circulant dans la voie de dépassement en direction latérale du véhicule hôte,
    dans lequel l'unité de prise de décision de dépassement (15) est configurée pour déterminer que le véhicule hôte est autorisé à dépasser le premier véhicule (51) si le cinquième véhicule (55) n'est pas détecté.
EP13887035.7A 2013-06-18 2013-06-18 Système d'assistance au dépassement Active EP3012814B1 (fr)

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BR112015031166B1 (pt) 2021-11-23
EP3012814A4 (fr) 2017-04-05
US9682712B2 (en) 2017-06-20
JPWO2014203333A1 (ja) 2017-02-23
CN105518762A (zh) 2016-04-20
WO2014203333A1 (fr) 2014-12-24
EP3012814A1 (fr) 2016-04-27
BR112015031166A2 (pt) 2017-07-25
JP6167354B2 (ja) 2017-07-26
US20160129919A1 (en) 2016-05-12
CN105518762B (zh) 2017-08-22

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